Mr Doyle won with 26.6 per cent of the primary vote ahead of Catherine Ng.
At one stage yesterday, it looked likely that Ms Ng could spring a surprise victory.
Ms Ng had secured just 10.8 per cent of the primary vote, but distribution of preferences vaulted her into contention.
Mr Doyle's victory was eventually secured with Labor member Peter McMullin's preferences.
"It's extraordinary that Labor has helped to elect Doyle," rival candidate Gary Morgan said.
"I can't remember anything like it."
The Greens' Adam Bandt had the second-highest primary vote of 15 per cent, but did not benefit from preferences.
The results were a major disappointment for Labor and Mr McMullin, whose expensive and aggressive campaign yielded just 12.5 per cent.
The new councillors (in order of election) are: Carl Jetter, Cathy Oke, Kevin Louey, Peter Clark, Ken Ong, Brian Shanahan, Jennifer Kanas.
Voter turnout for both was around 62%.